State and output feedback control in model-based networked control systems

In this paper the control of a continuous linear plant where the sensor is connected to a linear controller/actuator via a network is addressed. Both the state and output feedback are considered. The work focuses on reducing the network usage using knowledge of the plant dynamics. Necessary and sufficient conditions for stability are derived in terms of the update time h, network delay, and parameters of the plant and of its model. The deterioration of behavior when either h, the delay τ, or the modeling error increase is explicitly shown and examples are used to illustrate the results.